Enhanced extended state observer based prescribed time tracking control of wheeled mobile robot with slipping and skidding

Abstract

AbstractThis article focuses on the trajectory tracking control for a perturbed wheeled mobile robot (WMR) with slipping and skidding. The external disturbances and uncertainties caused by the slipping and skidding compose the “total” disturbance. By analyzing the stable state of the controlled system, the WMR reference model driven by a favorable disturbance is constructed. This article proposes an enhanced extended state observer (EESO) to reckon the difference between the “total” disturbance and the favorable disturbance. Then, a practical prescribed time tracking method is developed. By introducing a time‐dependent scaling function, the initial value restriction can be relaxed, and the peaking phenomenon caused by the EESO can be tolerated. With the proposed EESO and the prescribed time tracking controller, the estimation error is input‐to‐state stable, and the tracking control of WMR with global prescribed performance is achieved. Simulation results show the advantages.